非線形差分方程式を用いたマニピュレータの同定と制御

概要

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Nonlinear manipulator dynamics is identified as capable of realizing the high-speed adaptive control. One of the biggest problem of realizing the fast motion of a robotic manipulator is its dynamic reflection. The driving torque calculated from the mathematical model compensates well for this reflection, but the dynamic property changes according to payload and manipulator configuration. This paper introduces a high-speed adaptive control technique using identification. First, the manipulator is controlled only by a planned trajectory. A nonlinear discrete equation is then applied to the time series signal to identify the manipulator dynamics. The dientified equation is used to calculate the actuating signal which produces the following motion. The proposed technique is applied to the three-dimensional positioning of a multijoint manipulator.
一般社団法人日本機械学会の論文
1991-02-25